Dynamic modeling of flexible cooperative mobile manipulator with revolute-prismatic joints for the purpose of moving common object with closed kinematic chain using the recursive Gibbs–Appell formulation

Abstract

In this paper, the dynamic equations of flexible cooperative manipulators that are kinematically and dynamically constrained to an object and are placed on a non-holonomic mobile platform are explored. The main objective is to develop the dynamics of closed kinematic cooperative manipulators by defining constraints in mobile form while considering the geometric dimensions of the common object instead of assuming a concentrated mass in the gripper as well as the application of manipulator with flexible links and revolute-prismatic joints in the constrained cooperative mobile form. Unlike robots with independent manipulators, the dynamic constraint relates the dynamic equations of object and arms, initiating the motion and introducing interaction forces from the object to arms. In addition, the kinematic constraint keeps the distance between the two arms constant by constraining the relative motion velocity of the arms’ gripper. The dynamic equations of manipulators are derived using the recursive Gibbs–Appell formulation while the object equations are obtained using the Newton-Euler approach. Finally, the motion equations for a cooperative mobile robot with two 2-flexible-link arms are simulated. The results are evaluated at two stages by incorporating dynamic constraints as well as concurrent consideration of kinematic and dynamic constraints. Also, each manipulator's dynamic model weighted by using the experimental test setup with single link and revolute-prismatic joint.